src/bike.rs

@@ -92,6 +92,22 @@ fn spawn_bike(
     let body_collider =
         Collider::capsule_endpoints(0.5, Vec3::new(0.0, 0.0, -0.65), Vec3::new(0.0, 0.0, 0.8));
 
+    let mut body = commands.spawn((xform, Visibility::default()));
+    body.insert((
+        Name::new("body"),
+        RigidBody::Dynamic,
+        body_collider,
+        CollisionLayers::from_bits(1, 1),
+        SleepingDisabled,
+        CyberBikeBody,
+        CatControllerState::default(),
+        ColliderDensity(1.4),
+        AngularDamping(0.2),
+        LinearDamping(0.1),
+        ExternalForce::ZERO.with_persistence(false),
+        ExternalTorque::ZERO.with_persistence(false),
+    ));
+
     let pbr_bundle = {
         let color = Color::srgb(0.7, 0.05, 0.7);
         let mut xform = Transform::default();
@@ -104,29 +120,13 @@ fn spawn_bike(
             TransformInterpolation,
         )
     };
-
-    let mut body = commands.spawn((xform, Visibility::default()));
-    body.insert((
-        Name::new("body"),
-        RigidBody::Dynamic,
-        body_collider,
-        CollisionLayers::from_bits(1, 1),
-        SleepingDisabled,
-        CyberBikeBody,
-        CatControllerState::default(),
-        ColliderDensity(1.6),
-        AngularDamping(0.2),
-        LinearDamping(0.1),
-        ExternalForce::ZERO.with_persistence(false),
-        ExternalTorque::ZERO.with_persistence(false),
-    ));
-
-    body.insert(spawn_children(body.id(), meshes, materials))
-        .with_child(pbr_bundle);
+    let parent = body.id();
+    body.insert(spawn_children(parent, pbr_bundle, meshes, materials));
 }
 
 fn spawn_children(
     parent: Entity,
+    body: impl Bundle,
     mut meshes: ResMut<Assets<Mesh>>,
     mut materials: ResMut<Assets<StandardMaterial>>,
 ) -> impl Bundle {
@@ -147,6 +147,7 @@ fn spawn_children(
     let rear_wheel_pos = REAR_ATTACH + (rear_rake * REST_DISTANCE);
 
     children![
+        body,
         (
             RayCaster::new(FRONT_ATTACH, Dir3::new_unchecked(front_rake))
                 .with_max_hits(1)

src/physics.rs

@@ -20,9 +20,9 @@ pub struct CatControllerSettings {
 impl Default for CatControllerSettings {
     fn default() -> Self {
         Self {
-            kp: 60.0,
-            kd: 30.0,
-            ki: 0.0,
+            kp: 55.0,
+            kd: 20.0,
+            ki: 12.5,
         }
     }
 }
@@ -260,7 +260,11 @@ mod systems {
                     hit_point + force,
                     Color::linear_rgb(1., 0.5, 0.2),
                 );
-                bike_forces.apply_force_at_point(force, hit_point, bike_xform.translation + com.0);
+                bike_forces.apply_force_at_point(
+                    force,
+                    caster.global_origin(),
+                    bike_xform.translation + com.0,
+                );
             } else {
                 xform.translation = config.attach + (caster.direction.as_vec3() * config.rest_dist);
                 state.reset();
@@ -268,7 +272,7 @@ mod systems {
         }
     }
 
-    pub(super) fn wheel_action(
+    pub(super) fn steering(
         bike_query: Single<
             (
                 &Transform,
@@ -287,7 +291,7 @@ mod systems {
         let bike_vel = bike_vel.0;
 
         let dt = time.delta().as_secs_f32();
-        let max_thrust = 500.0;
+        let max_thrust = 1000.0;
         let yaw_angle = -yaw_to_angle(input.yaw);
 
         for (mut state, config, wheel) in wheels.iter_mut() {
@@ -300,8 +304,8 @@ mod systems {
                 let forward = normal.cross(*bike_xform.right());
                 let thrust_mag = input.throttle * max_thrust * dt;
                 let (thrust_dir, thrust_force) = match wheel {
-                    CyberWheel::Rear => (forward, thrust_mag),
-                    CyberWheel::Front => (rot * forward, thrust_mag * 0.1),
+                    CyberWheel::Rear => (forward, thrust_mag * 0.5),
+                    CyberWheel::Front => (rot * forward, thrust_mag),
                 };
 
                 let thrust = thrust_force * thrust_dir;
@@ -364,11 +368,11 @@ mod systems {
 
         let dt = time.delta_secs();
 
-        let speed = vel.length_squared();
-        let dspeed = speed * 0.0000001;
+        let speed = vel.length();
+        let dspeed = speed.powf(1.2) * 0.01;
         let dir = vel.normalize_or_zero();
         let drag = -dspeed * dt * DRAG_COEFF * dir;
-        if speed > 0.1 {
+        if speed > 1.0 {
             force.apply_force_at_point(
                 drag,
                 xform.translation - (0.2 * *xform.down()),
@@ -376,7 +380,7 @@ mod systems {
             );
         }
 
-        bevy::log::debug!("speed: {}, drag force: {}", vel.length(), drag.length());
+        bevy::log::debug!("speed: {}, drag force: {}", speed, drag.length());
 
         gizmos.arrow(
             xform.translation,
@@ -423,7 +427,7 @@ mod systems {
     }
 }
 
-use systems::{apply_lean, calculate_lean, drag, suspension, tweak, wheel_action};
+use systems::{apply_lean, calculate_lean, drag, steering, suspension, tweak};
 
 pub struct CyberPhysicsPlugin;
 
@@ -438,7 +442,7 @@ impl Plugin for CyberPhysicsPlugin {
             })
             .add_systems(
                 FixedUpdate,
-                (calculate_lean, apply_lean, suspension, wheel_action, drag).chain(),
+                (calculate_lean, apply_lean, suspension, steering, drag).chain(),
             )
             .add_systems(Update, tweak);
     }